The invention relates to a hybrid-driven walking, spraying and swimming integrated bionic robot and an advancing method, the hybrid-driven walking, spraying and swimming integrated bionic robot is suitable for water surface, underwater and underwater movement, the hybrid-driven walking, spraying and swimming integrated bionic robot comprises a pressure-resistant shell, a spraying driving structure is arranged in the pressure-resistant shell, walking feet are arranged outside the pressure-resistant shell, and the spraying driving structure in the pressure-resistant shell comprises a water pump and a gravity center adjusting water cabin communicated with the water pump; the output end of the water pump is communicated with the outside, the walking feet are arranged outside the pressure-resistant shell, and the power structure of each walking foot comprises a pull rod which is located in the pressure-resistant shell and driven by a power set arranged in the pressure-resistant shell to move axially and an energy storage spring which is located in the pressure-resistant shell and connected with the pull rod and the walking structure, and the pull rod pushes and pulls the energy storage spring to drive the walking structure. Hybrid driving is adopted, and meanwhile the walking feet and the water spraying propulsion equipment are arranged; and various working motion postures are achieved, and walking, spraying and swimming integration is achieved.

    本发明涉及一种混合驱动的走喷游一体化仿生机器人及行进方法,适用于水面、水下、水底运动,包括耐压壳体,在耐压壳体内设置喷射驱动结构,在耐压壳体外部设置行走足,耐压壳内部的喷射驱动结构包括水泵、与水泵连通的重心调整水舱,水泵的输出端与外界连通,行走足在耐压壳体外部设置多个,行走足的动力结构为:拉杆,位于耐压壳内,被内置于耐压壳体中的动力组带动轴向运动,储能弹簧,位于耐压壳内,与拉杆、行走结构相连,拉杆推拉储能弹簧带动行走结构。本发明采用混合驱动,同时配备行走足和喷水推进设备;具备多种工作运动姿态,实现走喷游一体化。


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    Title :

    Hybrid-driven walking, spraying and swimming integrated bionic robot and advancing method


    Additional title:

    混合驱动的走喷游一体化仿生机器人及行进方法


    Contributors:
    LIU YUANHUI (author) / LI HUI (author) / JING YIFAN (author) / SONG JIAQIAN (author)

    Publication date :

    2025-03-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B62D MOTOR VEHICLES , Motorfahrzeuge / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING




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